JP5682810B2 - ロボット - Google Patents

ロボット Download PDF

Info

Publication number
JP5682810B2
JP5682810B2 JP2010206662A JP2010206662A JP5682810B2 JP 5682810 B2 JP5682810 B2 JP 5682810B2 JP 2010206662 A JP2010206662 A JP 2010206662A JP 2010206662 A JP2010206662 A JP 2010206662A JP 5682810 B2 JP5682810 B2 JP 5682810B2
Authority
JP
Japan
Prior art keywords
finger
pair
gripping
main body
finger portions
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
JP2010206662A
Other languages
English (en)
Japanese (ja)
Other versions
JP2012061546A (ja
JP2012061546A5 (enExample
Inventor
如洋 山口
如洋 山口
細田　達矢
達矢 細田
一弘 小菅
一弘 小菅
泰久 平田
泰久 平田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Seiko Epson Corp
Original Assignee
Seiko Epson Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Seiko Epson Corp filed Critical Seiko Epson Corp
Priority to JP2010206662A priority Critical patent/JP5682810B2/ja
Priority to CN2011102759766A priority patent/CN102398268A/zh
Priority to US13/232,273 priority patent/US8942845B2/en
Publication of JP2012061546A publication Critical patent/JP2012061546A/ja
Publication of JP2012061546A5 publication Critical patent/JP2012061546A5/ja
Priority to US14/272,757 priority patent/US20140249677A1/en
Application granted granted Critical
Publication of JP5682810B2 publication Critical patent/JP5682810B2/ja
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/31—Gripping jaw
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/41—Tool
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/18—Mechanical movements
    • Y10T74/18888—Reciprocating to or from oscillating
    • Y10T74/1892—Lever and slide
    • Y10T74/18952—Lever and slide toggle transmissions

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
JP2010206662A 2010-09-15 2010-09-15 ロボット Expired - Fee Related JP5682810B2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2010206662A JP5682810B2 (ja) 2010-09-15 2010-09-15 ロボット
CN2011102759766A CN102398268A (zh) 2010-09-15 2011-09-07 机器人
US13/232,273 US8942845B2 (en) 2010-09-15 2011-09-14 Robot
US14/272,757 US20140249677A1 (en) 2010-09-15 2014-05-08 Robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2010206662A JP5682810B2 (ja) 2010-09-15 2010-09-15 ロボット

Publications (3)

Publication Number Publication Date
JP2012061546A JP2012061546A (ja) 2012-03-29
JP2012061546A5 JP2012061546A5 (enExample) 2013-10-17
JP5682810B2 true JP5682810B2 (ja) 2015-03-11

Family

ID=45807474

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2010206662A Expired - Fee Related JP5682810B2 (ja) 2010-09-15 2010-09-15 ロボット

Country Status (3)

Country Link
US (2) US8942845B2 (enExample)
JP (1) JP5682810B2 (enExample)
CN (1) CN102398268A (enExample)

Families Citing this family (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012130987A (ja) 2010-12-21 2012-07-12 Seiko Epson Corp ロボット、ロボット用ハンド
US9965094B2 (en) 2011-01-24 2018-05-08 Microsoft Technology Licensing, Llc Contact geometry tests
US8988087B2 (en) 2011-01-24 2015-03-24 Microsoft Technology Licensing, Llc Touchscreen testing
US9542092B2 (en) 2011-02-12 2017-01-10 Microsoft Technology Licensing, Llc Prediction-based touch contact tracking
US8982061B2 (en) 2011-02-12 2015-03-17 Microsoft Technology Licensing, Llc Angular contact geometry
US8913019B2 (en) 2011-07-14 2014-12-16 Microsoft Corporation Multi-finger detection and component resolution
JP5895420B2 (ja) * 2011-09-21 2016-03-30 セイコーエプソン株式会社 ロボット制御装置、及びロボットシステム
US9785281B2 (en) 2011-11-09 2017-10-10 Microsoft Technology Licensing, Llc. Acoustic touch sensitive testing
US8914254B2 (en) 2012-01-31 2014-12-16 Microsoft Corporation Latency measurement
US9481084B2 (en) * 2012-06-22 2016-11-01 Microsoft Technology Licensing, Llc Touch quality test robot
US9317147B2 (en) 2012-10-24 2016-04-19 Microsoft Technology Licensing, Llc. Input testing tool
JP2014140910A (ja) * 2013-01-22 2014-08-07 Yaskawa Electric Corp ロボットハンドおよびロボット
CN104608128A (zh) * 2013-11-01 2015-05-13 精工爱普生株式会社 机器人、控制装置、机器人系统、以及机器人控制方法
JP6380828B2 (ja) * 2014-03-07 2018-08-29 セイコーエプソン株式会社 ロボット、ロボットシステム、制御装置、及び制御方法
JP6088563B2 (ja) * 2015-02-10 2017-03-01 ファナック株式会社 位置及び姿勢の変換演算機能を備えたワーク取出しロボットシステム、及びワーク取出し方法
KR101703588B1 (ko) * 2015-03-20 2017-02-07 현대자동차 주식회사 차량 전장품 검사유닛 및 검사방법
JP2017196705A (ja) * 2016-04-28 2017-11-02 セイコーエプソン株式会社 ロボット、及びロボットシステム
CN106313091B (zh) * 2016-11-04 2018-05-18 南通艾特软件有限公司 一种工件夹取装置
JP7001352B2 (ja) * 2017-03-06 2022-01-19 川崎重工業株式会社 ロボット
JP7114603B2 (ja) * 2017-08-31 2022-08-08 川崎重工業株式会社 把持装置
JP2019053162A (ja) * 2017-09-14 2019-04-04 日本電産サンキョー株式会社 検査装置
US12030731B2 (en) * 2021-09-21 2024-07-09 Rios Intelligent Machines, Inc. Automated production work cell
JP2024111683A (ja) * 2023-02-06 2024-08-19 株式会社日立製作所 ロボットの制御方法及びシステム

Family Cites Families (66)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4930212Y1 (enExample) * 1970-03-20 1974-08-15
JPS48102773U (enExample) * 1972-03-06 1973-12-01
JPS5277173A (en) 1975-12-23 1977-06-29 Japan Synthetic Rubber Co Ltd Process for manufacture of foamed material
JPS5359978A (en) * 1976-11-10 1978-05-30 Hitachi Ltd Method of nipping parts
JPS594272B2 (ja) 1979-06-30 1984-01-28 ファナック株式会社 ワ−ク把持装置
JPS59353B2 (ja) 1980-07-24 1984-01-06 ファナック株式会社 把持装置
JPS5929397B2 (ja) 1980-08-15 1984-07-20 株式会社山武 ダブルハンドを有するロボツト
JPS591183A (ja) * 1982-06-24 1984-01-06 日産自動車株式会社 工業用ロボツトのバツテリ把持ハンド
JPS597589A (ja) 1982-07-07 1984-01-14 工業技術院長 把持力検出装置
US4545722A (en) * 1983-05-04 1985-10-08 Westinghouse Electric Corp. Flexible robot gripper for irregular shapes
JPS61201791A (ja) 1985-03-05 1986-09-06 Kobe Steel Ltd 亜鉛−鉄系多層合金電気めつき鋼板の製造方法
FR2589770B1 (fr) * 1985-11-07 1988-03-11 Normandie Ste Indle Basse Dispositif perfectionne de pince ou main de robot.
JPH0322893Y2 (enExample) * 1986-01-16 1991-05-20
JPS63251186A (ja) * 1987-04-08 1988-10-18 富士通株式会社 ロボツト用ハンド
JP2535366B2 (ja) 1988-01-09 1996-09-18 ファナック株式会社 産業用ロボットの動作能力確認方法と装置
JPH0683976B2 (ja) * 1988-03-15 1994-10-26 インターナシヨナル・ビジネス・マシーンズ・コーポレーシヨン コンプライアンス制御方法
US4894103A (en) * 1988-05-26 1990-01-16 The Uniroyal Goodrich Tire Company Robot for tire building machine and method of operation
JPH02249420A (ja) * 1989-03-24 1990-10-05 Iseki & Co Ltd 果実等の収穫装置
JPH0645348Y2 (ja) 1990-03-30 1994-11-24 日本碍子株式会社 芯出し機能を備えたロボットハンド
US5172951A (en) * 1990-08-06 1992-12-22 University Of Utah Research Foundation Robotic grasping apparatus
FR2672834B1 (fr) * 1991-02-18 1993-05-21 Essilor Int Organe de serrage et de prehension.
JP3432525B2 (ja) * 1991-07-22 2003-08-04 住友化学工業株式会社 熱可塑性樹脂組成物の製造法
JPH05253876A (ja) * 1991-08-21 1993-10-05 Sanyo Electric Co Ltd マニピュレータ
JPH0624883U (ja) * 1992-04-10 1994-04-05 株式会社ユニシアジェックス グリッパー装置
JP3527028B2 (ja) 1996-08-30 2004-05-17 日本碍子株式会社 ロボットハンド
JP3198078B2 (ja) * 1997-06-18 2001-08-13 日本サーボ株式会社 把持装置
US6062567A (en) 1997-04-09 2000-05-16 Nihon Servo Kabushiki Kaisha Game machine and gripper and prize suspender therefor
US6249591B1 (en) 1997-08-25 2001-06-19 Hewlett-Packard Company Method and apparatus for control of robotic grip or for activating contrast-based navigation
US6256555B1 (en) 1998-12-02 2001-07-03 Newport Corporation Robot arm with specimen edge gripping end effector
JP4139016B2 (ja) 1999-09-30 2008-08-27 アロカ株式会社 試験管搬送装置
JP2001121466A (ja) * 1999-10-29 2001-05-08 Toyota Auto Body Co Ltd シートハンガー
US6681151B1 (en) * 2000-12-15 2004-01-20 Cognex Technology And Investment Corporation System and method for servoing robots based upon workpieces with fiducial marks using machine vision
US6592324B2 (en) * 2001-02-26 2003-07-15 Irm, Llc Gripper mechanism
JP2002254382A (ja) 2001-02-28 2002-09-10 Nippon Telegr & Teleph Corp <Ntt> ロボットハンド
JP3922907B2 (ja) * 2001-10-25 2007-05-30 シスメックス株式会社 試料撹拌装置
CA2369845A1 (en) * 2002-01-31 2003-07-31 Braintech, Inc. Method and apparatus for single camera 3d vision guided robotics
US8060248B1 (en) * 2002-03-26 2011-11-15 Innovation Associates, Inc. Robotic arm and method for using with an automatic pharmaceutical dispenser
WO2004000508A1 (ja) 2002-06-24 2003-12-31 Matsushita Electric Industrial Co., Ltd. 多関節駆動機構及びその製造方法、それを用いた把持ハンドとロボット
JP3702257B2 (ja) * 2002-08-23 2005-10-05 ファナック株式会社 ロボットハンドリング装置
JP3805310B2 (ja) 2003-01-30 2006-08-02 ファナック株式会社 ワーク取出し装置
JP4053906B2 (ja) * 2003-03-14 2008-02-27 株式会社豊電子工業 作業ロボット用ハンド装置
US10850392B2 (en) * 2004-04-12 2020-12-01 Strider Labs, Inc. System and method for computing grasps for a robotic hand with a palm
JP4376142B2 (ja) * 2004-07-14 2009-12-02 中国電力株式会社 把持装置
JP2006068893A (ja) * 2004-08-04 2006-03-16 Purex:Kk 脆弱物の把持装置
JP2006159320A (ja) * 2004-12-03 2006-06-22 Sharp Corp ロボットハンド
WO2006078784A2 (en) * 2005-01-18 2006-07-27 Android Industries Llc A system for transporting and manipulating tires and wheels
JP2006297514A (ja) * 2005-04-18 2006-11-02 Fanuc Ltd ロボットハンド
CN1317110C (zh) * 2005-06-03 2007-05-23 武汉大学 高压线路悬垂绝缘子清扫机器人爬行机构
JP4845431B2 (ja) * 2005-06-30 2011-12-28 澁谷工業株式会社 ロボット制御システム
FR2898824B1 (fr) * 2006-03-27 2009-02-13 Commissariat Energie Atomique Dispositif interface intelligent pour la saisie d'un objet par un robot manipulateur et procede de mise en oeuvre de ce dispositif
JP5105147B2 (ja) 2006-08-28 2012-12-19 株式会社安川電機 ロボットおよび制御方法
EP2170748B1 (en) 2007-06-04 2010-08-18 FPS Food Processing Systems B.V. Gripper
JP5010382B2 (ja) * 2007-07-27 2012-08-29 株式会社東芝 マニピュレータおよびロボット
JP2009066685A (ja) * 2007-09-11 2009-04-02 Sony Corp ロボット装置及びロボット装置の制御方法
US8271138B2 (en) * 2007-09-12 2012-09-18 Intelligent Hospital Systems Ltd. Gripper device
JP2009078312A (ja) 2007-09-25 2009-04-16 Seiko Epson Corp 多関節ロボット用ハンド及びこのハンドを用いた多関節ロボット
JP2009113167A (ja) 2007-11-08 2009-05-28 Ikd:Kk ギヤシャフト組立て装置及びギヤシャフトの組立て方法
US20090196724A1 (en) * 2008-02-05 2009-08-06 Chen Hui Fred Edge contact gripper
JP5072695B2 (ja) * 2008-04-22 2012-11-14 株式会社ハーモニック・ドライブ・システムズ ロボットハンドおよび指機構
US8414043B2 (en) * 2008-10-21 2013-04-09 Foster-Miller, Inc. End effector for mobile remotely controlled robot
JP2010100421A (ja) * 2008-10-27 2010-05-06 Seiko Epson Corp ワーク検知システム、ピッキング装置及びピッキング方法
US8322249B2 (en) * 2008-12-18 2012-12-04 Foster-Miller, Inc. Robot arm assembly
US8141924B2 (en) 2008-12-29 2012-03-27 Foster-Miller, Inc. Gripper system
JP2011000703A (ja) * 2009-05-19 2011-01-06 Canon Inc カメラ付きマニピュレータ
CN201424641Y (zh) * 2009-06-25 2010-03-17 包尚利 多功能拾物器
US8196492B1 (en) 2009-07-24 2012-06-12 David Sutton Denu Versatile robotic module and robots comprising same

Also Published As

Publication number Publication date
CN102398268A (zh) 2012-04-04
US20140249677A1 (en) 2014-09-04
US20120065780A1 (en) 2012-03-15
JP2012061546A (ja) 2012-03-29
US8942845B2 (en) 2015-01-27

Similar Documents

Publication Publication Date Title
JP5682810B2 (ja) ロボット
JP5895337B2 (ja) ロボット
US9327405B2 (en) Robot apparatus
US11090814B2 (en) Robot control method
JP2012130987A (ja) ロボット、ロボット用ハンド
US10589424B2 (en) Robot control device, robot, and robot system
US20180339414A1 (en) Control Device And Robot System
US20120215350A1 (en) Work picking system
EP2868443A2 (en) Robot, robot system, and robot control apparatus
WO2018207552A1 (ja) ロボット装置および電子機器の製造方法
US20150343634A1 (en) Robot, robot system, and control method
US20160306340A1 (en) Robot and control device
CN115715248A (zh) 机器人手的控制装置及操作方法
JP2013180366A (ja) ロボット及びロボットハンド
JP6035892B2 (ja) ロボットハンド及びロボット装置
JP5991361B2 (ja) ロボットシステム、ロボット及び制御装置
WO2011153156A2 (en) Robotic assembly with partial fixturing
JP2020196103A (ja) ロボットシステム
Yamaguchi et al. Design of parts handling and gear assembling device
JP2004268147A (ja) 把持装置
JP5978773B2 (ja) ロボット及びロボットハンド
JP6354248B2 (ja) ロボット、ロボットシステム、制御装置、及び制御方法
WO2022004270A1 (ja) ロボットハンドおよびマニピュレータ
JP2019141976A (ja) 制御装置、ロボットの制御方法およびロボットシステム
JP2019144147A (ja) ロボット、ロボット制御装置、ロボットシステム、及び力検出器

Legal Events

Date Code Title Description
RD04 Notification of resignation of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7424

Effective date: 20120127

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20130903

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20130903

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20140415

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20140417

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20140513

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20140603

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20140722

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20141219

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20150101

R150 Certificate of patent or registration of utility model

Ref document number: 5682810

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

S531 Written request for registration of change of domicile

Free format text: JAPANESE INTERMEDIATE CODE: R313531

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

LAPS Cancellation because of no payment of annual fees